{"id":1852,"date":"2021-07-28T20:54:13","date_gmt":"2021-07-28T12:54:13","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=1852"},"modified":"2021-12-03T02:19:49","modified_gmt":"2021-12-02T18:19:49","slug":"%e4%bd%bf%e7%94%a8jetson-xavier-nx%e6%8e%a7%e5%88%b6apm%e9%a3%9e%e6%8e%a7","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=1852","title":{"rendered":"\u62e5\u62b1AI &#8211; \u4f7f\u7528Jetson Xavier NX\u63a7\u5236APM\u98de\u63a7\uff08\u672a\u5b8c\u5f85\u7eed\uff09"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u5728Jetson Xavier NX\uff08\u4e0b\u9762\u7b80\u79f0NX\uff09\u4e0a\u5b89\u88c5DroneKit<\/h2>\n\n\n\n<p>1\u3001\u5b89\u88c5\u5fc5\u8981\u7684\u5de5\u5177\u5305<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u8fd9\u4e00\u6b65\u53ef\u80fd\u4f1a\u53cd\u590d\u51fa\u9519\uff0c\u591a\u6b21\u5c1d\u8bd5\u540e\u5e94\u8be5\u53ef\u4ee5\u6210\u529f\u5b89\u88c5\u6240\u6709\u7684\u5de5\u5177\u5305\nsudo apt install libxml2-dev libxslt1-dev zlib1g-dev python-py<\/code><\/pre>\n\n\n\n<p>2\u3001\u5c06\u4f60\u7684\u98de\u63a7\u4ee3\u7801\uff08ardupilot\u6e90\u4ee3\u7801\uff0c<strong>\u5df2\u7ecf\u5207\u6362\u597d\u7248\u672c\u5e76\u66f4\u65b0\u8fc7\u5b50\u6a21\u5757\u7684<\/strong>\uff09\u4e2d\u7684ardupilot\/modules\/mavlink\u6587\u4ef6\u5939\u590d\u5236\u5230Jeston Xavier NX\u7684\u4efb\u610f\u76ee\u5f55\u4e0b\uff1b<\/p>\n\n\n\n<p>3\u3001\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u5b89\u88c5pymavlink\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u8fdb\u5165pymavlink\u5b50\u76ee\u5f55\ncd mavlink\/pymavlink\n\n#\u5b89\u88c5pymavlink\npython3 setup.py install<\/code><\/pre>\n\n\n\n<p><strong>\u6ce8\u610f\uff0c\u7531\u4e8e\u6211\u4eec\u662f\u76f4\u63a5\u4f7f\u7528ardupilot\u6e90\u4ee3\u7801\u4e2d\u7684\u4ee3\u7801\u5b89\u88c5\u7684pymavlink\u5305\uff0c\u56e0\u6b64\u53ef\u4ee5\u505a\u5230\u5b89\u88c5\u7684pymavlink\u5305\u652f\u6301\u7684mavlink\u5e27\u4e0e\u98de\u63a7\u652f\u6301\u7684mavlink\u5e27\u662f\u4e00\u6a21\u4e00\u6837\u7684\uff08\u7248\u672c\u5b8c\u5168\u76f8\u540c\uff09\u3002<\/strong><\/p>\n\n\n\n<p>4\u3001\u4eceGitHub\u4e0a\u4e0b\u8f7dDronekit-python\u6e90\u4ee3\u7801\uff0c\u5e76\u8fdb\u884c\u5b89\u88c5\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u4e0b\u8f7ddronekit-python\u6e90\u4ee3\u7801\ngit clone https:\/\/github.com\/dronekit\/dronekit-python.git\n\n# \u8fdb\u5165dronekit-python\u76ee\u5f55\ncd dronekit-python\n\n# \u5b89\u88c5dronekit-python\npython3 setup.py install<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u4f7f\u7528USB\u7ebf\u5c06Jetson Xavier NX\u4e0e\u98de\u63a7\u8fde\u8d77\u6765<\/h2>\n\n\n\n<p>\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5c06APM\u98de\u63a7\uff08\u51c6\u786e\u6765\u8bb2\u662f\u8fd0\u884cAPM\u56fa\u4ef6\u7684pixhawk\u98de\u63a7\u6216\u8005\u5176\u5347\u7ea7\u7248\uff09\u7684USB\u76f4\u63a5\u63d2\u5230Jetson Xavier NX\u7684USB\u4e0a\u3002\uff08\u6ce8\u610f\uff0c\u201c\u9e4f\u5fc3\u201d\u98de\u63a7\u7684USB\u662f\u901a\u8fc7GH\u8fde\u63a5\u5668\u5f15\u51fa\u7684\uff0c\u4e0b\u56fe\u4e2d\u7684\u5f69\u8272\u7ebf\u7f06\u662f\u4e00\u4e2aGH\u8fde\u63a5\u5668\u8f6cUSB Type-C\u7684\u7ebf\u7f06\uff0c\u5185\u90e8\u4e0d\u542b\u4efb\u4f55\u8f6c\u6362\u82af\u7247\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-774x1024.jpg\" alt=\"\" class=\"wp-image-1855\" width=\"581\" height=\"768\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-774x1024.jpg 774w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-227x300.jpg 227w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-768x1016.jpg 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-1161x1536.jpg 1161w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-1548x2048.jpg 1548w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/a1f5d2a94843b73f21b7e94c9b389b1-1-scaled.jpg 1935w\" sizes=\"auto, (max-width: 581px) 100vw, 581px\" \/><\/figure>\n\n\n\n<p>\u98de\u63a7\u4f1a\u88ab\u8bc6\u522b\u4e3a\uff1a\u201cttyACM0\u201d\u548c\u201cttyACM1\u201d\uff08\u5982\u4e0b\u56fe\u6240\u793a\uff09\uff0c\u5176\u4e2d\u201cttyACM0\u201d\u4e0e\u98de\u63a7\u63d2\u5230Windows\u7535\u8111\u65f6\u8bc6\u522b\u51fa\u7684\u4e32\u53e3\u662f\u4e00\u6837\u7684\uff0c\u7528\u6cd5\u4e5f\u662f\u4e00\u6a21\u4e00\u6837\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/image-2.png\" alt=\"\" class=\"wp-image-1853\" width=\"241\" height=\"34\"\/><\/figure>\n\n\n\n<p><strong>\u6ce8\u610f\uff0c\u666e\u901a\u7528\u6237\u662f\u6ca1\u6709\u5bf9tty\u7c7b\u8bbe\u5907\u7684\u8bbf\u95ee\u6743\u9650\u7684<\/strong>\uff0c\u5982\u679c\u60f3\u8ba9\u9ed8\u8ba4\u7528\u6237\u62e5\u6709\u5bf9\u5176\u7684\u8bbf\u95ee\u6743\u9650\uff0c\u9700\u8981\u5c06\u8be5\u7528\u6237\u6dfb\u52a0\u5230\u201cdialout\u201d\u7528\u6237\u7ec4\u4e2d\uff0c\u4ee5\u7528\u6237\u540d\u4e3a\u201cnfcy\u201d\u4e3a\u4f8b\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u5c06\u201cnfcy\u201d\u7528\u6237\u6dfb\u52a0\u5230\u201c dialout \u201d\u7528\u6237\u7ec4\u4e2d\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo gpasswd --add nfcy dialout<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u9996\u6b21\u8fde\u63a5\u6d4b\u8bd5<\/h2>\n\n\n\n<p>\u5728Jetson Xavier NX\u4e0a\u65b0\u5efa\u4e00\u4e2a\u201cDroneKit_test.py\u201d\u7684python\u6587\u4ef6\uff0c\u5c06\u5982\u4e0b\u4ee3\u7801\u586b\u5165\u6b64\u6587\u4ef6\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>from dronekit import connect\n\nprint(\"connecting...\")\n \n# Connect to the Vehicle\nvehicle = connect('\/dev\/ttyACM0', wait_ready=True, baud=921600)\n \n# vehicle is an instance of the Vehicle class\nprint(\"Autopilot Firmware version: %s\" % vehicle.version)\nprint(\"Autopilot capabilities (supports ftp): %s\" % vehicle.capabilities.ftp)\n\nprint(\"Attitude: %s\" % vehicle.attitude)\nprint(\"Velocity: %s\" % vehicle.velocity)\nprint(\"GPS: %s\" % vehicle.gps_0)\n\n\nprint(\"Battery: %s\" % vehicle.battery)\nprint(\"EKF OK?: %s\" % vehicle.ekf_ok)\n\nprint(\"Rangefinder: %s\" % vehicle.rangefinder)\nprint(\"Rangefinder distance: %s\" % vehicle.rangefinder.distance)\n\nprint(\"Heading: %s\" % vehicle.heading)\nprint(\"Is Armable?: %s\" % vehicle.is_armable)\nprint(\"System status: %s\" % vehicle.system_status.state)\nprint(\"Mode: %s\" % vehicle.mode.name)\nprint(\"Armed: %s\" % vehicle.armed)<\/code><\/pre>\n\n\n\n<p>\u8fd0\u884c\u6b64python\u7a0b\u5e8f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u6ce8\u610f\uff0c\u5fc5\u987b\u52a0\u4e0asudo\uff0c\u5426\u5219\u65e0\u6743\u9650\u8bbf\u95ee\u98de\u63a7\u786c\u4ef6\u5bf9\u5e94\u7684\u4e32\u53e3\nsudo python DroneKit_test.py<\/code><\/pre>\n\n\n\n<p>\u8f93\u51fa\u5982\u4e0b\uff08\u6ce8\u610f\uff0c\u7b2c\u4e00\u884c\u201cconnecting&#8230;\u201d\u63d0\u793a\u51fa\u73b0\u540e\u4f1a\u7b49\u5f85\u51e0\u79d2\u949f\uff0c\u8fd9\u662f\u6b63\u5e38\u7684\uff0c\u8fd9\u65f6\u4e8c\u8005\u6b63\u5728\u8fdb\u884c\u5efa\u7acb\u8fde\u63a5\uff0c\u9700\u8981\u4e00\u5b9a\u7684\u65f6\u95f4\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"363\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/image-3.png\" alt=\"\" class=\"wp-image-1858\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/image-3.png 670w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/07\/image-3-300x163.png 300w\" sizes=\"auto, (max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p>\u4ece\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0cNX\u6210\u529f\u8fde\u63a5\u98de\u63a7\uff0c\u5e76\u4e14\u8bfb\u53d6\u5230\u4e86\u98de\u63a7\u56fa\u4ef6\u7684\u7248\u672c\u53f7\uff08Copter-4.0.6\uff09\u3001\u98de\u63a7\u59ff\u6001\u3001GPS\u72b6\u6001\u7b49\u4fe1\u606f\u3002\u8fd9\u80cc\u540e\u4f7f\u7528\u7684\u5c31\u662fMavlink\u534f\u8bae\uff0c\u4f46\u662fDroneKit\u5e2e\u6211\u4eec\u628aMavlink\u534f\u8bae\u7684\u6253\u5305\u53d1\u9001\u548c\u63a5\u6536\u89e3\u5e27\u90fd\u5c01\u88c5\u597d\u4e86\uff0c\u7528\u8d77\u6765\u975e\u5e38\u65b9\u4fbf\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u9996\u4e2aNX\u63a7\u5236\u98de\u63a7\u89e3\u9501\u3001\u8fd0\u884c\u3001\u91cd\u65b0\u9501\u5b9a\u7684\u793a\u4f8b<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\u524d\u63d0\u6761\u4ef6\uff1a<\/h3>\n\n\n\n<ul class=\"wp-block-list\"><li>\u98de\u673a\u6216\u8005\u65e0\u4eba\u8f66\u5728\u6ca1\u6709\u52a0\u4e0aNX\u4e4b\u524d\u5df2\u7ecf\u80fd\u591f\u6b63\u5e38\u8fd0\u884c\uff08\u624b\u52a8\u63a7\u5236\u3001\u81ea\u52a8\u63a7\u5236\u5747\u65e0\u95ee\u9898\uff09\uff1b<\/li><li>\u505a\u597d\u5b89\u5168\u9632\u62a4\uff1a\u9065\u63a7\u5668\u80fd\u591f\u968f\u65f6\u5207\u56de\u624b\u52a8\u63a7\u5236\uff1b\u4eba\u79bb\u5f97\u8db3\u591f\u8fdc\uff1b\u6d4b\u8bd5\u573a\u5730\u5b89\u5168\u5408\u6cd5\uff1b<\/li><\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u4efb\u52a1\u76ee\u6807\uff1a<\/h3>\n\n\n\n<ol class=\"wp-block-list\"><li>\u7b49\u5f85GPS\u5b9a\u4f4d\u826f\u597d\uff0c\u5e76\u4e14\u98de\u63a7\u5904\u4e8e\u53ef\u4ee5\u89e3\u9501\u7684\u60c5\u51b5\u4e0b\uff1b<\/li><li>\u5f53\u68c0\u6d4b\u5230\u9065\u63a7\u5668\u901a\u90536\u7684\u503c\u4ece\u4e00\u4e2a\u5c0f\u4e8e1800\u7684\u503c\u53d8\u4e3a\u5927\u4e8e1800\u7684\u503c\u65f6\uff1b<\/li><li>\u81ea\u52a8\u89e3\u9501\uff1b<\/li><li>\u81ea\u52a8\u8d77\u98de\u52302\u7c73\u9ad8\u5ea6\u5e76\u60ac\u505c5\u79d2\uff1b<\/li><li>\u81ea\u52a8\u98de\u884c\u5230\u6b63\u524d\u65b93\u7c73\u5904\uff1b<\/li><li>\u81ea\u52a8\u5411\u53f3\u98de\u884c3\u7c73\uff1b<\/li><li>\u822a\u5411\u81ea\u52a8\u8f6c\u5230\u6b63\u4e1c\u65b9\u5411\uff1b<\/li><li>\u81ea\u52a8\u5207\u5230RTL\u6a21\u5f0f\uff08\u6ce8\u610f\uff0c\u8bf7\u63d0\u524d\u5728\u98de\u63a7\u53c2\u6570\u4e2d\u5c06RTL\u6a21\u5f0f\u7684\u52a8\u4f5c\u8bbe\u7f6e\u4e3a\u8fd4\u822a\u540e\u81ea\u52a8\u964d\u843d\uff09<\/li><\/ol>\n\n\n\n<p>\u672a\u5b8c\u5f85\u7eed\u2026\u2026<\/p>\n\n\n\n<p>\u4f8b\u7a0b\u51c6\u5907\u4e2d\u2026\u2026<\/p>\n\n\n\n<p>\u89c6\u9891\u7b79\u5212\u4e2d\u2026\u2026<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6b64\u6559\u7a0b\u5c06\u4f1a\u66f4\u65b0\u5230\u6211\u4eec\u7684\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u4e2d\uff0c\u94fe\u63a5\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/strong>  <strong>\u5bf9\u4e8e\u5df2\u7ecf\u8d2d\u4e70\u6b64\u6559\u7a0b\u7684\u5b66\u5458\uff0c\u6b64\u66f4\u65b0\u662f\u514d\u8d39\u7684\uff08\u540e\u9762\u5176\u4ed6\u7684\u66f4\u65b0\u5bf9\u4e8e\u5df2\u7ecf\u8d2d\u4e70\u6b64\u6559\u7a0b\u7684\u5b66\u5458\u4e5f\u4f1a\u6c38\u8fdc\u514d\u8d39\uff09\u3002<\/strong><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u6587\u8bb2\u8ff0\u5982\u4f55\u4f7f\u7528AI\u5229\u5668NVIDIA Jetson Xavier NX\u6765\u63a7\u5236APM\u98de\u63a7\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\u53ef\u4ee5\u5b9e\u73b0\u5f88\u591a\u9ad8\u7ea7\u529f\u80fd\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":true,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[16],"tags":[],"class_list":["post-1852","post","type-post","status-publish","format-standard","hentry","category-16"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v24.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u62e5\u62b1AI - \u4f7f\u7528Jetson Xavier NX\u63a7\u5236APM\u98de\u63a7\uff08\u672a\u5b8c\u5f85\u7eed\uff09 - \u6012\u98de\u5782\u4e91 | \u65e0\u4eba\u673a\u77e5\u8bc6\u5e93<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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